Two-Wheel Balancing Robot

The main goal of this project was construction of a small (~1 foot tall), two-wheeled, self-balancing robot similar to a Segway.Such a device is a type of inverted pendulum.The project was deemed appropriate because completion would require use of skills from multiple disciplines of engineering and physics.Some of the major tasks required were mathematically modeling the device from equations of motion in Matlab/Simulink, drawing CAD schematics of the physical apparatus, programming a microcontroller, and physically wiring all required electronic hardware together.